FEEDBACK CONTROL, DESIGN PROCESS

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<strong>CONTROL</strong> SIGNAL The variable (e) represents the tracking error, the difference between the desired input value (R) and the actual output (Y). This error signal (e) will be sent to the PID controller, and the controller computes both the derivative and the integral of this error signal. The signal (u) just past the controller is now equal to the proportional gain (Kp) times the magnitude of the error plus the integral gain (Ki) times the integral of the error plus the derivative gain (Kd) times the derivative of the error.
Example Problem M = 1kg b = 10 N.s/m k = 20 N/m F(s) = 1 The goal of this problem is to show you how each of Kp, Ki and Kd contributes to obtain •Fast rise time •Minimum overshoot •No steady‐state state error
Page 1: FEEDBACK CONTROL, DESIGN PROCESS AM
Page 4 and 5: SECOND ORDER CLOSED LOOP
Page 8 and 9: Open‐loop step response
Page 10 and 11: Proportional Controller
Page 12 and 13: Kp=50, 100, 200, 1000
Page 14 and 15: PI Controller
Page 16 and 17: PD Controller
Page 18 and 19: PID CONTROLLER
Page 20: General tips for designing a PID co

FEEDBACK CONTROL, DESIGN PROCESS

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